抄録
We are involved in the development project of mobile toilet robot that assists defecating behavior of the handicapped/aged persons. The current mobile toilet robot has differential drive wheel mechanism, and is equipped with laser range sensors instead of vision sensors. We developed a localization method of mobile robot by pattern matching between two environmental maps of grid map format, and experimentally evaluated the performance of the method. Next, the path planning for the mobile robot in the narrow space is designed and experimentally evaluated using the developed localization method. We obtained satisfactory result that shows the validity of the approach.
